Author: Luigi Freda
PLVS is a real-time system that combines sparse SLAM, volumetric mapping, and 3D unsupervised incremental segmentation. PLVS stands for Points, Lines, Volumetric mapping, and Segmentation.
PLVS is available in two different versions.
- PLVS I: hosted in the branch
plvs1. It builds on ORB-SLAM2, and supports mono, stereo, and RGB-D cameras. - PLVS II: hosted in the
masterbranch. It builds on ORB-SLAM3, and also supports camera systems provided with IMUs.
This document provides a list of the new features introduced by PLVS. For more information and videos, please visit this project page or refer to the following document:
PLVS: A SLAM System with Points, Lines, Volumetric Mapping, and 3D Incremental Segmentation
Luigi Freda
Note: PLVS is an active project. This README is under construction and will be updated with further information and details as new improvements are released. Stay tuned!
- The build procedures were tested under Ubuntu 20, 22, 24.
- ROS1 support is provided only under noetic with Ubuntu 20 (see here).
- ROS2 was tested under foxy and Ubuntu 20 (further details here).
If you don't have Ubuntu 20 with noetic, check rosdocker and use the noetic or noetic_cuda containers.
NOTE: At present, under Ubuntu 24.04, BUILD_WITH_MARCH_NATIVE is set to OFF. Enabling --march=native optimization brings some problems probably due to different default building options in the native libpcl.
- Install basic dependencies:
$ ./install_dependencies.sh - Install OpenCV in a local folder:
$ ./install_local_opencv.sh - Build the PLVS framework:
$ ./build.sh
It should be easy to adapt the above procedures if you have a different OS version.
If you want to skip step 2, you can set the variables OpenCV_DIR and OPENCV_VERSION in config.sh with your local OpenCV path and version, respectively. However, this is not recommended.
Under ROS noetic, open a new terminal, source the main ROS1 setup.bash and run:
$ ./build_ros_catkin.sh
This command builds the PLVS ROS1 workspace in Example_old/ROS/PLVS and deploys it in the ros_ws folder.
Under ROS 2, open a new terminal, source the main ROS2 setup.bash and run:
$ ./build_ros_colcon.sh
This command builds the PLVS ROS2 workspace in Example/ROS2/PLVS and deploys it in the ros2_ws folder.
Once everything is built, you can enter in the Scripts folder and test the different examples. For instance you can configure and run:
$ ./run_tum_rgbd.shfor TUM RGB-D datasets$ ./run_kitti_stereo.shfor KITTI datasets$ ./run_euroc_stereo_inertial.shfor Euroc datasets, stereo + inertial$ ./run_euroc_stereo.shfor Euroc datasets, only stereo$ ./run_tum_vi_stereo.shfor TUM VI datasets, only stereo$ ./run_tum_vi_stereo_inertial.shfor TUM VI datasets, stereo + inertial
In each of the above scripts, you have to configure (1) the DATASET_BASE_FOLDER, (2) the specific DATASET of interest, and (3) the used YAML configuration file. In particular, each YAML configuration file shows different sections with commented options. For a quick overview of the new features and their corresponding YAML options refer to new_features.md.
If you built the ROS workspace, you can use the scripts ros_xterm* to launch the PLVS ROS nodes.
For instance, with the TUM datasets, configure and run ros_xterm_tum_rgbd.sh.
Refer to this README. At present, this is a work in progress.
With the TUM datasets, configure and run ros2_xterm_tum_rgbd.sh.
Note: The ROS1 and ROS2 install paths are automatically detected by the script Scripts/find_ros.sh.
We welcome contributions to the codebase through pull requests, bug reports, comments, and feature proposals via issues. For any questions or feedback, please contact luigifreda(at)gmail(dot)com. Thank you!
PLVS is released under GPLv3 license. PLVS contains some modified libraries, each one coming with its license. Where nothing is specified, a GPLv3 license applies to the software.
If you use PLVS in your projects, please cite our above-mentioned document.
- The PLVS I and PLVS II frameworks are based on ORB-SLAM2 and ORB-SLAM3 respectively. Many thanks to their Authors for their great work and contributions to the Research and open-source communities.
- Ther ROS 2 wrapper was inspired by this repository. Many thanks to his Author, Haebeom Jung.